There isn't conclusive evidence, but I would say: No
A few times throughout the show, the characters would describe their experience of being Kilgraved, and they said that they "wanted to do those things" while contrarily definitely did not want to. Despite Kilgrave's power having a different source than it does in the comics, it works quite similarly. People's desires are changed such that they want to do what he says.
In episode 1, Hope says
He made me do things that I didn't want to do, but I wanted to.
In episode 3, Hope says
He said, "Wish her a happy birthday," and that was suddenly the only thing that I wanted to say.
In episode 4, another victim describes his experience like this:
He just stared straight ahead and said "You'd like to leave your son, wouldn't you?" And I said yes.
I pulled Avery out, put him on the curb, and drove away.
I saw him in my rear-view mirror, just weeping on the sidewalk, and I hated myself because it's what I wanted.
Therefore people follow his orders because they want to do what he says. If they know what Kilgrave wants them to do, they will do it. Following written/electronic orders would derive from this equally well. He could give a little nod at a gun and if they could figure out he wants them to shoot themself, they would do it. An example of a Kilgraved person taking at least "parts" of orders through other means is in episode 13:
We learn that Luke had been kilgraved, and was calling in through the phone to give updates. This would require Luke taking the "order" to tell him information.
It could be argued that it was because they were ordered verbally to begin with, but I don't think that's necessary.
I'm not sure what you mean by "whether or not they can hear", since in the question you linked, it's determined that they do have to be able to hear him speak.
However, giving commands verbally is easily the most convenient method of delivering them. If you're running at him wanting to kill him, it's a lot faster for him to yell "stop!" than for him to sit down and write on a piece of paper "stop" and then cause you to see it.